Using the keypad on the keyboard: 9 and 3 control the shoulder pitch, / and * control the shoulder yaw, 8 and 2 the wrist pitch, 6 and 4 wrist roll, 0 and . control the wrist yaw, + and - control the elbow pitch, 5 controls the grapple fixture, once for capturing, once to release. Make sure the FLT CONTRL Power switch on the A6U panel is on and the power switch for the RMS on A8L is set to Primary (RMS Power switch).